EP0749902A1 - Procédé pour déposer un nombre déterminé de produits dans un récipient - Google Patents

Procédé pour déposer un nombre déterminé de produits dans un récipient Download PDF

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Publication number
EP0749902A1
EP0749902A1 EP95115548A EP95115548A EP0749902A1 EP 0749902 A1 EP0749902 A1 EP 0749902A1 EP 95115548 A EP95115548 A EP 95115548A EP 95115548 A EP95115548 A EP 95115548A EP 0749902 A1 EP0749902 A1 EP 0749902A1
Authority
EP
European Patent Office
Prior art keywords
belt
container
picker
product
storage area
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP95115548A
Other languages
German (de)
English (en)
Other versions
EP0749902B1 (fr
Inventor
Gerhard Schubert
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Gerhard Schubert GmbH
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Gerhard Schubert GmbH
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Filing date
Publication date
Application filed by Gerhard Schubert GmbH filed Critical Gerhard Schubert GmbH
Publication of EP0749902A1 publication Critical patent/EP0749902A1/fr
Application granted granted Critical
Publication of EP0749902B1 publication Critical patent/EP0749902B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B57/00—Automatic control, checking, warning, or safety devices
    • B65B57/20—Applications of counting devices for controlling the feed of articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
    • B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
    • B65B5/12—Introducing successive articles, e.g. confectionery products, of different shape or size in predetermined positions

Definitions

  • the invention relates to a "picker line” as they are used to convert individual products into containers that can accommodate a certain number of individual products.
  • the procedure has been such that the containers were delivered on a first container belt and mostly jammed there, transferred from the first container belt to a second container belt, on which the filling with the individual products was carried out, and after complete filling, to a third container belt for transport the filled container was handed over again.
  • the container belt is preferably driven at the same speed as the product belt, and preferably at a constant speed.
  • a particularly simple design is obtained if the product belt and container belt are driven by a common drive, or are combined to form a one-piece conveyor belt, for example separated in the longitudinal direction by a standing wall into a transport area for the individual products and for the containers.
  • a time offset is provided for the release of the next empty container, so that the container to be filled is roughly parallel to the one for to transport it on the product belt to certain products.
  • a container can be filled completely with just one picker, or - depending on the running speed and the density of the individual products per unit length of the product belt - via several pickers arranged along the belt in the transport direction.
  • the counting device is preferably a line-by-line scanning camera, preferably with a CCD sensor, the scanning line of which extends transversely, preferably at right angles, over the product belt.
  • this line scan camera for the control of the picker, a defined one is passed through the product belt Point, namely the line scanned by the camera, determines the position of each individual product on the product belt and its position in front of the picker area, and further processed in the computer, taking into account the transport speed of the products and the distance between the scanned line and the picker position, by the Control picker precisely for gripping the individual products and transferring them into the container including the necessary rotation of the product.
  • the first camera for counting the individual products arriving on the product belt for controlling the container feed on the one hand and the second camera for controlling the pickers on the other hand can preferably be combined in a single camera, provided that this is arranged sufficiently far before the start of the picker area, to allow timely release of the next container on the container belt.
  • all the existing pickers of a product band are preferably connected to the control computer via a data bus, so that the positions and orientations of the individual products originally recorded by the camera for picker control on the Product range is updated, which individual product has already been implemented by the picker.
  • the next empty container is only released when the minimum number of each type of different products required for each container to be accommodated in the container has passed the counting device.
  • a picker line 1 is shown in the top view, which in the running direction 20, that is to say from left to right, passes through individual products 2, which are arranged arbitrarily on a product belt 6 under the pickers 4a, b.
  • empty containers 3 run parallel to the product belt 6 parallel to the product belt 6 on container belts 7a, b.
  • a line running across the product belt 6 is scanned by means of a first line camera 8.
  • the line camera 8 like each of the pickers 4a, b, is connected to a central control 11, which comprises a computer.
  • the empty containers 3 are transported up to the container belt 7 and stowed by means of a stopper 17 which runs across the container belt 7 and against which the foremost empty container abuts.
  • the stopper 17 is also connected to the controller 11.
  • the first pent-up empty container 3 is always released as soon as a number of individual products 2 on the product belt 6 has passed under the first line camera 8 that corresponds to the number of fillings in a container 3.
  • the first line camera 8 or its scanning line should preferably be located approximately at the level of the rear edge of the frontmost jammed container 3 lying against the stopper 17 or even set back in the direction of travel 20 to the container approximately in the middle of the To let the longitudinal region of the product belt 6 run parallel, in which the corresponding products lie.
  • the container belt 7 preferably has approximately the same speed as the product belt 6, a solution with an integral product and container belt is shown in the right half of the figure.
  • the pickers 4a, 4b are usually formed with a bridge-like base frame, which extends over at least the product belt 6 and on which the picker arm 5 is articulated.
  • the picker arm 5 generally consists of an upper arm 13a, b which is fastened to the base frame about a substantially vertical axis via a shoulder joint 15.
  • a forearm 12a, 12b is in turn also fastened in turn pivotable about an approximately vertical axis.
  • the forearm 12a, 12b is moved via a forearm parallelogram 14a, 14b, the parallel arm of which represents the upper arm 13a, 13b.
  • a suction cup 16 is fastened, which - after actuation of a defined position in the horizontal plane by the control 11 - lowers onto an individual product 2 located there, then lifts it up and into the container 3 after rotation lowered around a vertical axis according to the desired correct orientation.
  • the first picker 4a is used by means of a assigned second line camera when passing through the individual products 2 under the scanning line of these line cameras 10, registers each position at which an individual product 2 is located, and stores the rotational position of the individual product ⁇ and in the controller 11, and taking into account the belt speed, which in practice is not always constant.
  • control 11 also takes into account the individual product 2 which has already been removed from the product belt 6, so that the products still present and to be implemented can be implemented by the subsequent picker movements or subsequent pickers 4b, etc.
  • the first line camera 8 not only registers the number of individual products 2 passing under it, but also - instead of the second line camera 10 - their orientation and position immediately, so that only a single line camera is necessary overall.
  • a separate container belt 7 has the advantage that its speed can be regulated independently of that of the product belt 6:
  • the container belt 7 can be moved faster than the product belt 6, so that in the area of the pickers 4a, b the containers 3 overtake the individual products 2 assigned to them.
  • the faster running of the container belt causes a desired rapid removal of the completely filled containers.
  • Separate container belts 7a, b can also be used to separate two - as shown in the left part of the figure To let container tapes 7a, b run on both sides of the product belt 6, on which different containers 3 or containers to be filled differently can be located.
  • the container belts 7a, b can also run at mutually different speeds, so that one product belt 7a is primarily to be filled, while the second, slower-running product belt 7b serves as a buffer when empty containers are insufficient on the first conveyor belt or - what z . B. in the case of different individual products 2 arriving on the product belt 6 - these individual products are not present in the correct quantity relation to one another.
  • a further possibility is to have the line camera (s) 8, 10 scan not only the area of the product belt 6, but also the area of the container belt 7, and the stopper 17 for the container belt 7 in the running direction only after the scanning line of the corresponding one
  • line scan camera

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Container Filling Or Packaging Operations (AREA)
  • Warehouses Or Storage Devices (AREA)
EP95115548A 1995-06-20 1995-10-02 Procédé pour déposer un nombre déterminé de produits dans un récipient Expired - Lifetime EP0749902B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19522368 1995-06-20
DE19522368A DE19522368C2 (de) 1995-06-20 1995-06-20 Picker-Straße

Publications (2)

Publication Number Publication Date
EP0749902A1 true EP0749902A1 (fr) 1996-12-27
EP0749902B1 EP0749902B1 (fr) 1999-03-24

Family

ID=7764788

Family Applications (1)

Application Number Title Priority Date Filing Date
EP95115548A Expired - Lifetime EP0749902B1 (fr) 1995-06-20 1995-10-02 Procédé pour déposer un nombre déterminé de produits dans un récipient

Country Status (3)

Country Link
EP (1) EP0749902B1 (fr)
AT (1) ATE178007T1 (fr)
DE (2) DE19522368C2 (fr)

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0847838A2 (fr) 1996-12-12 1998-06-17 Gerhard Schubert GmbH Scanner de produit
EP0856465A1 (fr) * 1997-01-30 1998-08-05 Gerhard Schubert GmbH Transport de plateaux à directions opposées pour table de préhension
US6122895A (en) * 1997-01-30 2000-09-26 Gerhard Schubert Gmbh Process and apparatus for introducing products into containers
WO2003022034A1 (fr) * 2001-09-07 2003-03-20 Gartneriet Pkm Aps Robot de transfert
EP1352831A1 (fr) 2002-04-02 2003-10-15 SIG Pack Systems AG Procédé et appareil pour déposer des marchandises dans des conteneurs
EP1593598A3 (fr) * 2004-04-22 2007-03-07 CT PACK S.r.l. Système de transfert de produits alimentaires par pinces
WO2008003350A1 (fr) * 2006-07-04 2008-01-10 Robert Bosch Gmbh procÉDÉ de remplissage de conteneurs avec des marchandises DIVERSES
EP2233400A1 (fr) 2009-03-25 2010-09-29 OPM S.p.A. Procédé et dispositif d'emballage
WO2010097684A3 (fr) * 2009-02-24 2010-12-09 Pattyn Packing Lines N.V. Procédé et dispositif permettant de séparer un nombre préétabli de marchandises à la pièce
WO2011018392A1 (fr) * 2009-08-11 2011-02-17 Robert Bosch Gmbh Concept d'augmentation de l'efficacité d'installations d'emballage automatisées
RU2433074C2 (ru) * 2006-07-04 2011-11-10 Роберт Бош Гмбх Способ заполнения контейнеров штучными изделиями
EP2520497A1 (fr) 2011-05-04 2012-11-07 Matthias Ehrat Procédé d'insertion de produits individuels dans des récipients dans une suite de robots
EP2664553A2 (fr) 2012-05-03 2013-11-20 Matthias Ehrat Procédé dýinsertion de produits individuels dans des récipients dans une suite de robots
US8781616B2 (en) 2011-06-27 2014-07-15 The Procter & Gamble Company Robotic unscrambler and method
EP2471728B1 (fr) 2011-01-03 2019-06-12 Krones AG Agencement de plusieurs modules de manipulation et/ou de traitement et/ou de transport de récipients couplés ainsi que procédé de transport, de traitement et/ou de manipulation de récipients
WO2022125269A1 (fr) * 2020-12-08 2022-06-16 Caterpillar Inc. Système et procédé de prélèvement et de manipulation automatiques de pièces
US12302810B2 (en) 2015-01-19 2025-05-20 Ig Specials B.V. Apparatus and method for planting plant cuttings

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005039673B4 (de) * 2005-04-19 2013-12-19 Gerhard Schubert Gmbh Verfahren und Vorrichtung zum Herstellen von befüllten und dicht versiegelten Kunststoff-Tiefziehbehältern
DE102007014802A1 (de) 2007-03-28 2008-10-09 Khs Ag Verfahren zur Überwachung, Steuerung und Optimierung von Abfüllanlagen für Lebensmittel, insbesondere für Getränkeflaschen
EP2586712B2 (fr) 2011-10-31 2018-02-14 Veltru AG Procédé et dispositif d'insertion de produits dans des récipients dans une suite de robots

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3233464A1 (de) * 1982-09-09 1984-03-15 Joseph Wolf GmbH & Co KG, 6146 Alsbach-Hähnlein Vorrichtung zum vorbereiten des verpackens von mohrenkoepfen (negerkuessen) oder dergleichen druckempfindlichen produkten
DE3704423A1 (de) * 1987-02-12 1988-08-25 Lesch Hans Bernd Verfahren und vorrichtung zum vollautomatischen einlegen von gegenstaenden, insbesondere pralinen, in eine verpackungseinheit
DE4208818A1 (de) * 1992-03-19 1993-09-23 Haensel Otto Gmbh Verfahren und vorrichtung zum einlegen von artikeln in verpackungseinsaetze
US5339607A (en) * 1992-10-23 1994-08-23 Regier Robert D Apparatus and method for dispensing objects to a count and/or weight

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3233464A1 (de) * 1982-09-09 1984-03-15 Joseph Wolf GmbH & Co KG, 6146 Alsbach-Hähnlein Vorrichtung zum vorbereiten des verpackens von mohrenkoepfen (negerkuessen) oder dergleichen druckempfindlichen produkten
DE3704423A1 (de) * 1987-02-12 1988-08-25 Lesch Hans Bernd Verfahren und vorrichtung zum vollautomatischen einlegen von gegenstaenden, insbesondere pralinen, in eine verpackungseinheit
DE4208818A1 (de) * 1992-03-19 1993-09-23 Haensel Otto Gmbh Verfahren und vorrichtung zum einlegen von artikeln in verpackungseinsaetze
US5339607A (en) * 1992-10-23 1994-08-23 Regier Robert D Apparatus and method for dispensing objects to a count and/or weight

Cited By (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0847838A2 (fr) 1996-12-12 1998-06-17 Gerhard Schubert GmbH Scanner de produit
US6002125A (en) * 1996-12-12 1999-12-14 Gerhard Schubert Gmbh Product scanning apparatus and method using a plurality of eight sensors over the entire width of a background surface means
EP0856465A1 (fr) * 1997-01-30 1998-08-05 Gerhard Schubert GmbH Transport de plateaux à directions opposées pour table de préhension
US6122895A (en) * 1997-01-30 2000-09-26 Gerhard Schubert Gmbh Process and apparatus for introducing products into containers
WO2003022034A1 (fr) * 2001-09-07 2003-03-20 Gartneriet Pkm Aps Robot de transfert
EP1352831A1 (fr) 2002-04-02 2003-10-15 SIG Pack Systems AG Procédé et appareil pour déposer des marchandises dans des conteneurs
EP1593598A3 (fr) * 2004-04-22 2007-03-07 CT PACK S.r.l. Système de transfert de produits alimentaires par pinces
WO2008003350A1 (fr) * 2006-07-04 2008-01-10 Robert Bosch Gmbh procÉDÉ de remplissage de conteneurs avec des marchandises DIVERSES
RU2433074C2 (ru) * 2006-07-04 2011-11-10 Роберт Бош Гмбх Способ заполнения контейнеров штучными изделиями
US8015778B2 (en) 2006-07-04 2011-09-13 Robert Bosch Gmbh Method for filling containers with piece goods
WO2010097684A3 (fr) * 2009-02-24 2010-12-09 Pattyn Packing Lines N.V. Procédé et dispositif permettant de séparer un nombre préétabli de marchandises à la pièce
BE1018917A3 (nl) * 2009-02-24 2011-11-08 Pattyn Packing Lines Nv Inrichting voor het afscheiden van een vooraf bepaalde hoeveelheid stukgoederen.
EP2233400A1 (fr) 2009-03-25 2010-09-29 OPM S.p.A. Procédé et dispositif d'emballage
WO2011018392A1 (fr) * 2009-08-11 2011-02-17 Robert Bosch Gmbh Concept d'augmentation de l'efficacité d'installations d'emballage automatisées
US8718816B2 (en) 2009-08-11 2014-05-06 Robert Bosch Gmbh Concept for increasing efficiency of robotic packaging installations
EP2471728B1 (fr) 2011-01-03 2019-06-12 Krones AG Agencement de plusieurs modules de manipulation et/ou de traitement et/ou de transport de récipients couplés ainsi que procédé de transport, de traitement et/ou de manipulation de récipients
EP2520497A1 (fr) 2011-05-04 2012-11-07 Matthias Ehrat Procédé d'insertion de produits individuels dans des récipients dans une suite de robots
US8781616B2 (en) 2011-06-27 2014-07-15 The Procter & Gamble Company Robotic unscrambler and method
EP2664553A2 (fr) 2012-05-03 2013-11-20 Matthias Ehrat Procédé dýinsertion de produits individuels dans des récipients dans une suite de robots
US12302810B2 (en) 2015-01-19 2025-05-20 Ig Specials B.V. Apparatus and method for planting plant cuttings
WO2022125269A1 (fr) * 2020-12-08 2022-06-16 Caterpillar Inc. Système et procédé de prélèvement et de manipulation automatiques de pièces
CN116568603A (zh) * 2020-12-08 2023-08-08 卡特彼勒公司 自动拣选和处理零件的系统和方法
US11820599B2 (en) 2020-12-08 2023-11-21 Caterpillar Inc. System and method of automatically picking and handling parts

Also Published As

Publication number Publication date
DE19522368A1 (de) 1997-01-02
DE59505442D1 (de) 1999-04-29
ATE178007T1 (de) 1999-04-15
DE19522368C2 (de) 1997-04-30
EP0749902B1 (fr) 1999-03-24

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